CN111150493A - Surgical device and surgical robot - Google Patents
Surgical device and surgical robot Download PDFInfo
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- CN111150493A CN111150493A CN202010083306.3A CN202010083306A CN111150493A CN 111150493 A CN111150493 A CN 111150493A CN 202010083306 A CN202010083306 A CN 202010083306A CN 111150493 A CN111150493 A CN 111150493A
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- 230000008569 process Effects 0.000 description 10
- 230000007704 transition Effects 0.000 description 10
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000007789 sealing Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
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- 229920001343 polytetrafluoroethylene Polymers 0.000 description 2
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- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
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- YCKRFDGAMUMZLT-UHFFFAOYSA-N Fluorine atom Chemical compound [F] YCKRFDGAMUMZLT-UHFFFAOYSA-N 0.000 description 1
- -1 Polytetrafluoroethylene Polymers 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
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- 238000001727 in vivo Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
A surgical device and surgical robot using the same, the surgical device includes a surgical instrument and a sheath, the surgical instrument includes a terminal executor, a joint and a connecting rod, the terminal executor is connected with the connecting rod through the joint; the sheath is detachably connected with the surgical instrument, the sheath is provided with a flexible and stretchable sheath body, one end of the sheath is provided with a first connecting piece used for being connected with a distal end or a tail end instrument of the joint, and the other end of the sheath is provided with a second connecting piece connected with a proximal end or a connecting rod of the joint; the hardness of the second connecting piece is greater than that of the sheath body, the second connecting piece is provided with a locking part, and the proximal end of the joint or the connecting rod is provided with a second locking part which is used for being matched with the first locking part to fix the sheath to the surgical instrument. The sheath is connected to the joint or the connecting rod through a connecting piece with hardness larger than that of the sheath body, and the rigid connection of the two enables the two to be connected more stably.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a surgical device and a surgical robot applying the surgical device.
Background
The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.
With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation. The surgical instrument is connected with a driving device of a slave operation device and used for performing surgical operation, the surgical instrument comprises a joint which can enable an end effector to move in multiple degrees of freedom, when the surgical operation is performed, the end effector and the joint enter the human body, the joint needs to be sealed in order to prevent liquid in the human body from entering the joint, particularly when the end effector performs electric cauterization operation, the joint can be electrified, therefore, the joint needs to be sealed and isolated, a sheath is needed to protect and isolate the joint, the flexible tail end of the sheath is directly connected to a connecting rod of the surgical instrument in the prior art, but the connection enables the sheath to easily fall off the surgical instrument, and no better solution exists at present how to stably fix the sheath on the surgical instrument.
Disclosure of Invention
Accordingly, the present invention is directed to solving the above problems and providing a surgical device and a surgical robot including the surgical device.
A surgical device, comprising:
a surgical instrument comprising an end effector, a joint, and a link, the end effector being connected to the link through the joint;
the sheath is detachably connected with the surgical instrument and provided with a flexible and stretchable sheath body, one end of the sheath is provided with a first connecting piece used for being connected with the far end of the joint or the end effector, the other end of the sheath is provided with a second connecting piece connected with the near end of the joint or the connecting rod, and the first connecting piece and the second connecting piece are respectively and fixedly connected with two ends of the sheath body;
the second connector has a hardness greater than the sheath body, the second connector has a first locking portion thereon, and the proximal end of the joint or the link has a second locking portion for cooperating with the first locking portion to secure the sheath to the surgical instrument.
Preferably, the hardness of the first connector is greater than the hardness of the sheath body.
Preferably, the surgical device further comprises a blocking mechanism for blocking the second locking portion from being withdrawn from the first locking portion after being mated with the first locking portion.
Preferably, the first locking portion has a first groove and a second groove, the first groove communicates with the second groove, one end of the first groove has the first groove opening for guiding the second locking portion to enter, and the other end is connected to the second groove, and the second groove is used for accommodating the second locking portion when the sheath is fixed to the surgical instrument.
Preferably, the first groove extends in an axial direction of the second link, and the second groove communicates with the first groove and extends in a circumferential direction of the second link.
Preferably, the first locking portion further comprises a third groove communicating with the second groove and extending in the axial direction of the second connector towards the proximal end of the second connector, the third groove being adapted to receive the second locking portion when the sheath is secured to the surgical instrument.
Preferably, the prevention mechanism is in communication with the second groove and extends toward the distal end of the second connector in the axial direction of the second connector.
Preferably, the stopping mechanism comprises a locking tongue and a locking column, one end of the locking tongue is connected with the second connecting piece, and the other end of the locking tongue is a free end; the locking post is located on the proximal end of the joint or on the link, the locking tongue has a locking hole therein that receives the locking post, the locking post being received in the locking hole to prevent the second locking portion from being withdrawn from the first locking portion.
Preferably, the second connector further includes a stopper and a body, the stopper is located at one side of the second groove, one end of the stopper is fixedly connected to the body, the other end of the stopper is a free end, and a protrusion is provided at one side of the other end of the stopper close to the second groove, and the protrusion is used for being abutted by the second locking portion when the second locking portion moves from the first groove to the second groove to elastically expand outward, and elastically recover after the second locking portion moves into the second groove to block the second locking portion from moving from the second groove to the first groove.
Preferably, a distance of a position where the locking hole and the second groove prevent the second locking portion from further moving in the axial direction of the second link is equal to a distance of the second locking portion and the fourth locking portion in the axial direction of the joint or the link.
Preferably, the second connecting piece further has a guide groove extending in the axial direction of the second connecting piece, and the proximal end of the joint or the link has a guide post for guiding the second locking portion into the first locking portion in cooperation with the guide groove.
Preferably, the locking post is a cylinder having a smooth guiding surface on at least one side and a spherical top surface at the top.
Preferably, the sheath further comprises an insulating member, one end of the first connecting member is connected with the sheath body, and the other end of the first connecting member is connected with the insulating member.
Preferably, the sheath body completely covers the second connector, and a distance from a proximal-end-side end of the sheath body to a proximal-end-side end of the second connector in an axial direction of the sheath body is larger than a gap between a distal end of the link and the joint proximal end.
Preferably, the outer diameter of the sheath is equal to or smaller than the radius of the first connector and/or the second connector.
A surgical robot, comprising:
a main operating platform and a slave operating device,
the main operating table is used for sending control commands to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment,
the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation,
the slave operation device comprises the surgical apparatus of any one of claims 1 to 15.
The sheath of the surgical device is connected to the joint or the connecting rod through the connecting piece with hardness greater than that of the flexible sheath body, and the joint or the connecting rod are rigidly connected, so that compared with the prior art that the flexible tail end of the sheath is directly connected to the connecting rod, the connection is more stable.
Drawings
FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;
FIGS. 2 and 3 are partial schematic views of various embodiments of a distal instrument of the surgical device of the present invention;
FIG. 4 is a schematic view of a surgical device according to an embodiment of the present invention;
FIG. 5 is an exploded view of the distal end of a surgical instrument in accordance with one example of the present invention;
FIG. 6 is a cross-sectional view of a sheath in an embodiment of the invention;
FIGS. 7 and 8 are schematic views of a sheath installation process according to an embodiment of the present invention;
FIG. 9 is a schematic view of a second connector according to an embodiment of the present invention;
FIGS. 10-13 are schematic views illustrating a locking process of the second connecting member according to an embodiment of the present invention;
FIG. 14 is a schematic view of an end effector of one embodiment of the present invention entering the interior of a human body;
FIG. 15 is an enlarged view at P of FIG. 14;
FIG. 16 is a schematic view of a second connector according to another embodiment of the present invention;
fig. 17 and 18 are schematic structural views of a second connecting member according to another embodiment of the present invention;
FIG. 19 is a distal end view of a joint according to another embodiment of the present invention;
FIGS. 20 to 24 are schematic views illustrating a locking process of the second coupling member according to another embodiment of the present invention;
FIGS. 25 to 27 are schematic views illustrating a locking process of the second coupling member according to still another embodiment of the present invention;
FIG. 28 is a schematic view of a locking post according to an embodiment of the present invention;
FIG. 29 is an exploded view of the distal end of a surgical instrument in accordance with another embodiment of the present invention;
FIG. 30 is a schematic cross-sectional view of a sheath according to another embodiment of the invention;
FIG. 31 is a schematic representation of a sheath of another embodiment of the invention after successful installation.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure. As used herein, "fully coupled" may be broadly understood to mean where two or more objects are connected to any event in a manner that allows the objects that are absolutely coupled to operate with each other such that there is no relative movement between the objects in at least one direction, such as a projection and groove coupling, which may be in a radial relative movement but not in an axial relative movement. In the description and claims, the terms "coupled," "engaged," and "coupled" may be used interchangeably.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 and 2, the surgical robot includes a master operation table 100 and a slave operation device 300. Wherein the main console 100 is used to transmit a control command to the slave operation device 300 according to the operation of the doctor to control the slave operation device 300, and is also used to display the image acquired from the operation device 300. The slave operation device 300 is used to respond to a control command sent from the master console 100 and perform a corresponding operation, and the slave operation device 300 is also used to acquire an image in the body.
The slave manipulator 300 includes a robot arm 310, a power mechanism 320 provided on the robot arm 310, a surgical instrument 200 provided on the power mechanism 320, and a sleeve 330 covering a distal end instrument of the surgical instrument 200 and a link. The robotic arm 310 is used to adjust the position of the surgical instrument 200; the power mechanism 320 is used for driving the surgical instrument 200 to perform corresponding operations, and the end effector of the surgical instrument 200 is used for extending into the body, performing surgical operations through the end instrument located at the distal end thereof, and/or acquiring in-vivo images. Specifically, as shown in fig. 2 and 3, the end instrument 1 of the surgical instrument 200 is inserted into the sleeve 330, and the end effector 21 thereof is extended out of the sleeve 330 and driven by the power mechanism 320 to perform an operation. In fig. 3, the region of the distal end instrument 1 of the surgical instrument 200 located within the cannula 330 is a rigid region; in fig. 4, the region of the distal instrument 1 of the surgical instrument 200 located within the cannula 330 is a flexible region, and the cannula bends with the flexible region. The sleeve 24 may also be omitted.
As shown in fig. 4 and 5, the surgical instrument 200 includes an end instrument 1, a link 2 and a drive cassette 3, the end instrument 1 includes an end effector 21 and a joint 20, the end effector 21 is used for performing a surgical operation, the end effector 21 may be an electrocautery, a forceps, a stapler, a scissors, etc. according to the requirements of the surgical operation, fig. 5 shows an end effector 21 for electrocautery, the end effector 21 includes a conductive clamping member 210 and an insulator 211, and the insulator 211 insulates the clamping member 210 and the joint 20.
The joint 20 includes a plurality of joint components for performing a yaw, pitch, etc. degree of freedom motion, the joint 20 includes a plurality of joint components 23 and a support 24 at a proximal end of the joint, the proximal end of the joint components 23 is connected to the link 2 through the support 24, the link 2 is used for supporting the terminal instrument 1, and a drive cable in the drive box is connected to the terminal instrument 1 by passing through the inside of the link 2 for controlling the motion of the terminal instrument 1.
When the distal end instrument 1 enters the inside of a human body to perform an operation, in order to avoid the liquid in the human body from entering the inside of the joint 20 to cause adverse effects on the joint assembly 23, the joint 20 needs to be isolated from the outside to prevent the liquid in the human body from entering the inside of the joint 20, the sheath 10 is sleeved on the joint 20, and the sheath 10 can prevent the liquid in the human body from entering the inside of the joint 20.
As shown in fig. 6, the sheath 10 includes a sheath body 12 made of a flexible and stretchable material, which may be fluorine-containing rubber, silica gel, Polytetrafluoroethylene (PTFE), tetrafluoroethylene, etc., a distal end of the sheath body is fixedly connected with a first connecting member 11, a proximal end is fixedly connected with a second connecting member 13, an outer diameter of the sheath body 12 is not greater than outer diameters of the first connecting member 11 and the second connecting member 13, the first connecting member 11 is fixed to a distal end of the sheath 10, and then the second connecting member 13 is fixed to a proximal end of the sheath 10 in a process of manufacturing the sheath 10. Because the external diameter of the sheath body 12 is not greater than the external diameters of the first connecting piece 11 and the second connecting piece 13, the sheath body 12 has the flexible stretchable property, and the hardness of the first connecting piece 11 and the second connecting piece 13 is greater than that of the sheath body 12, the first connecting piece 11 and the second connecting piece 13 can support the sheath body 12 to expand and deform, and the restoring elasticity of the sheath body 12 can stably fix the first connecting piece 11 and the second connecting piece 13 on the sheath body 12. In this embodiment, the first connecting member 11 and the second connecting member 13 are made of metal material, and in other embodiments, the first connecting member 11 and the second connecting member 13 may also be made of other material with hardness greater than that of the sheath body 12, such as hard plastic.
There is no substantial difference whether the first attachment element is first secured to the sheath 10 or whether the second attachment element 13 is first secured to the sheath 10, but in other embodiments the second attachment element 13 may be secured to the proximal end of the sheath 10 before the first attachment element 11 is secured to the sheath 10. Preferably, the surfaces of the first connecting member 11 and the second connecting member 13 may be pre-coated with an adhesive substance, and after the first connecting member 11 and the second connecting member 13 are fixed to the protecting cover body 12, the adhesive substance further bonds the protecting cover body 12 and the first connecting member 11 and the second connecting member 13 together, so as to enhance the stability of the fixing of the first connecting member 11 and the second connecting member 13 to the protecting cover body 12.
The distal end of the sheath 10 is connected to the distal assembly clevis 231 of the joint 20 by a first connector 11, the proximal end of the sheath 10 is locked to the support 24 at the proximal end of the joint 20 by a second connector 13, and in other embodiments, the proximal end of the sheath 10 is locked to the link 2 by a second connector 13.
Specifically, the proximal end surface 111 of the first connector 11 abuts against the end surface 2311 of the clevis 231, and the first locking portion 131 of the second connector 13 locks with the second locking portion on the support 24, which in this embodiment is the stud 25, thereby securing the sheath 10 to the end device 1. In other embodiments, if the rod 2 also needs to protect and isolate the body fluids, the post 25 can be disposed on the rod 4, so that the sheath 10 can cover the portion of the rod 10 that needs to be protected after installation, and the post 25 can be disposed anywhere on the joint 20 and the rod 10 as needed.
Fig. 7 and 8 are schematic views illustrating the process of mounting the sheath 10 on the end instrument 1, fig. 7 is a schematic view illustrating the process of initially mounting the sheath 10 on the joint 20, and the end effector 21 of the surgical instrument passes through the sheath 10, while the first connecting member 11 abuts against the clevis 231, and then stretching the sheath 10 to deform the sheath body 12 until the sheath 10 is completely mounted on the surgical instrument 1 by stretching the first locking portion 131 of the second connecting member 13 of the sheath 10 and the boss 25, and the boss 25 can be stably locked in the first locking portion 131 because the sheath body 12 of the locked sheath 10 is in a stretched state.
Fig. 9 shows the structure of second connecting element 13 according to an embodiment of the present invention, in which second connecting element 13 includes a body 130, and body 130 has a first locking portion 131, and first locking portion 131 includes a first groove 1311 extending axially along body 130, a second groove 1312 extending circumferentially along body 130, and a third groove 1313 extending axially along body 130. The two sides of the inlet of the first groove 1311 are provided with guiding cambered surfaces 1311.1, 1311.2, and the guiding cambered surfaces 1311.1, 1311.2 can enable the convex column 25 to smoothly enter the first groove 1311.
The second slot 1312 communicates with a third slot 1313, the third slot 1313 extends in the axial direction of the body 130, the proximal end of the third slot 1313 has a first receiving slot 1315, the distal end of the third slot 1313 is connected to a blocking mechanism that blocks the withdrawal of the stud 25 from the first locking portion 131, in this embodiment the blocking mechanism is a second receiving slot 1316, the connection of the second slot 1312 to the third slot 1313 being located intermediate the first receiving slot 1315 and the second receiving slot 1316.
Fig. 10 to 13 show the locking process of the first locking portion 131 of the second connector 13 of the sheath 10 with the corresponding post 25, the sheath body 12 being hidden in order to show the locking process more clearly. The convex column 25 firstly enters the first groove 1311 through the guide arc surfaces 1311.1, 1311.2 of the first groove 1311, when the convex column reaches the transition groove 1314, the second connecting piece 13 is rotated to enable the convex column 25 to be smoothly transited to the second groove 1312, the second connecting piece 13 is continuously rotated to enable the convex column 25 to enter the third groove 1313 through the second groove 1312, after the convex column 25 enters the third groove 1313, the sheath 10 is released, and due to the fact that the sheath body 12 is elastically deformed, the elastic restoring force of the sheath body 12 enables the convex column 25 to be firmly fixed in the first accommodating groove 1315.
Fig. 14 shows the process of the distal instrument 1 of the surgical instrument with the sheath 10 attached, entering the human body through the guiding means 40, the distal instrument 1 of the surgical instrument entering the human body through the guiding means 40, the guiding means 40 including the sealing member 41, the sealing member 41 being in close contact with the sheath 10 to prevent the gas inside the human body from leaking to the outside of the human body.
Since the sealing member 41 of the guiding means 40 is in close contact with the body 12 of the sheath 10, when the surgical instrument is moved towards its distal end, the friction between the sealing member 41 and the sheath body 12 will cause the sheath body 12 to move towards the proximal end of the surgical instrument, thereby risking that the stud 25 exits the first locking portion 131.
Fig. 15 is an enlarged view of fig. 14 at P, and the second receiving groove 1316 connected to the third groove 1313 eliminates the above-mentioned risk, and after the stud 25 exits the first receiving groove 1315, it will move along the distal end of the third groove 1313 and be received by the second receiving groove 1316, and the presence of the second receiving groove 1316 will prevent the stud from moving along the second groove 1312 and the first groove 1311 and exiting the first locking portion 131.
The number of the first locking portions 131 of the second connecting member 13 may be plural, for example, two first locking portions 131 symmetrically disposed on the body 120; in another embodiment, the number of the first locking portions 131 of the body 120 is three, and the three first locking portions 131 are different from each other by 120 degrees on the body 120, and accordingly, the number of the corresponding studs 25 varies with the number of the first locking portions 131.
Fig. 16 shows another embodiment of the second connector of the sheath 10 of the present invention, in which the second connector 43 includes a body 430, the body 430 has a first locking portion 431 thereon, the first locking portion 431 includes a first groove 4311 extending axially along the body 430, a second groove 4312 communicating with the first groove 4311 and extending circumferentially along the body 430, a third groove 4313 communicating with the second groove 4312 and extending axially along the body 430, the third groove 4313 has a proximal first receiving groove 4315, a distal end of the third groove 4313 is connected to a blocking mechanism, in this embodiment, the blocking mechanism is a second receiving groove 4316, the first receiving groove 4315 is used for receiving the second locking portion when the sheath 10 is installed, in this embodiment, the second locking portion is a post 25, and the second receiving groove 4316 is used for preventing the post 25 from exiting the first locking portion 431 and receiving the post 25 when the sheath 10 passes through the guide 40.
The second connector 43 further includes a third receiving groove 4314, one end of the third receiving groove 4314 and the second communicating portion 4312 extend along the distal end of the body 43, and the third receiving groove 4314 is used for receiving the protruding pillar 25 when the protruding pillar 25 correctly enters the second receiving groove 4316. Specifically, when the sheath body 12 of the sheath 10 is moved towards the proximal end of the surgical instrument by the friction force of the sealing member 41 of the guiding device 40, the protruding pillar 25 exits the first receiving groove 4315 and moves along the distal end of the third groove 4313, and when the protruding pillar 25 passes through the junction between the second groove 4312 and the third groove 4313, the protruding pillar 25 does not enter the second receiving groove 4316 but enters the second groove 4312, in this case, if the protruding pillar 25 continues to move along the second groove 4312, the protruding pillar 25 enters the third receiving groove 4314, so that the protruding pillar 25 is prevented from further moving and exiting the first locking portion 431.
In one embodiment, since the volume of the convex pillar 25 is very small, it can be directly disposed on the supporting member 24 of the joint, so that the sheath only needs to be as long as the joint, compared with the design of covering the sheath on the whole connecting rod, the length of the sheath can be greatly reduced, the manufacturing cost of the sheath can be reduced, and the sheath can be more conveniently installed.
Fig. 17 and 18 show another embodiment of the present invention, in which a side of the second connector 43 ' adjacent to the second groove 4312 ' has a blocking part 4317, one end of the blocking part 4317 is fixedly connected to the second connector body 430 ', and the other end is a free end, and the side of the blocking part 4317 adjacent to the second groove 4312 ' has a protrusion, which makes the width of the second groove 4312 ' at the protrusion smaller than the width of the protruding column 25. A gap 4318 is provided between the side of the barrier 4317 away from the second groove 4312 ' and the body 430 ', wherein the gap 4318 enables the barrier 4317 to move away from the second groove 4312 ' when pressed.
Fig. 18 is a schematic view of the convex column 25 'passing through the second groove 4312', because the protrusion on one side of the blocking part 4317 exists, the second groove 4312 'has a section with a width narrower than that of the convex column 25, when the convex column 25 passes through the narrower section, the blocking part 4317 is pressed by the convex column 25 and moves away from the second groove 4312', when the convex column 25 passes through the second groove 4312 'and enters the third groove 4313', the blocking part 4317 'returns to its original shape, and when the surgical instrument enters the human body through the guiding device 40, the blocking part 4317 can prevent the convex column 25 from exiting from the third groove 4312'.
Another embodiment of the surgical device of the present invention is, as shown in fig. 19 to 20, a second connector 53 of a sheath and a preventing mechanism, the second connector 53 including a body 530, a first locking portion 531, a guide groove 532, the preventing mechanism including a locking tongue 533 and a second locking post 452 provided on a support 44 of a joint of the surgical device, the locking tongue 533 extending in a circumferential direction of the second connector 53, one end of the locking tongue 533 being connected to the second connector 53, and the other end being a free end. The support 44 of the joint of the surgical device further comprises a first locking post 451, the first locking post 451 being adapted to cooperate with the first locking portion 531, in other examples, the first locking post 451 and the second locking post 452 may also be provided on the link.
The first locking portion 531 includes a first groove 5311 extending in an axial direction of the body 530 and a second groove 5313 extending in a circumferential direction of the body 530, the first groove 5311 and the second groove 5313 communicate with each other through a transition groove 5312, and the guide groove 532 is used to guide the second connecting member 53 to be locked with the surgical instrument.
Fig. 21-24 illustrate the locking of the second connector 53 of the sheath with the second locking post 452, the locking process being hidden from view to more visually reveal the sheath body. The first locking post 451 is closer to the distal end of the support member 44 than the second locking post 452, so that during the installation of the sheath to the surgical instrument, the first locking post 451 enters the first groove 5311 and then the second locking post 452 enters the guide groove 532, when the first locking post 451 enters the first groove 5311 and passes through the transition groove 5312, the second locking post 452 enters the guide groove 532, and when the first locking post 451 enters the second groove 5313 through the transition groove 5312, the second groove 5313 restricts the first locking post 451 from further moving in the axial direction of the second connecting member 53. Rotating the second link 53, the first locking post 451 will translate along the second slot 5313, thereby causing the second locking post 452 to translate in the guide slot 532 to the guide portion 5332 on the free end of the locking tongue 533, continuing to rotate the second link 53, the first locking post 451 continuing to translate along the second slot 5313, causing the second locking post 452 to move along the inside of the locking tongue 533 via the guide portion 5332, the second locking post 452 squeezing the locking tongue 533 to move the locking tongue 533 to the outside of its second link 53, the second locking post 452 completing the locking of the second link 53 by the locking post 4331 via the locking hole 5331 that is entered into the locking tongue 533 on the inside of the locking tongue 533. The locking hole 5331 will prevent the second locking post 452 from exiting the locking hole 5331 and also prevent the first locking post 451 from exiting the first locking portion 531, so that the sheath will not fall off the surgical instrument when the distal end of the surgical instrument enters the inside of the human body.
In order for the first locking post 451 to be able to correctly guide the second locking post 452 into the locking hole 5331, the first locking portion 531 has a limit position that limits the first locking post 451 from further movement in the axial direction, and the height H1 of the first locking post 451 and the second locking post 452 in the axial direction of the support 44 is equal to the distance H2 between the locking hole 5331 in the axial direction of the second link 53 and the limit position; the length of the second groove 5313 in the circumferential direction of the second link 53 is greater than or equal to the distance of the locking hole 5331 from the guide groove 532 in the circumferential direction of the second link 53.
In another embodiment of the present invention, as shown in fig. 25, 26 and 27, the preventing mechanism and the locking mechanism are integrated in one body in this embodiment, specifically, the sheath includes a second connector 93, the second connector 93 includes a first locking portion, and the joint support has a second locking portion, in this embodiment, the first locking portion is a locking tongue 933, the second locking portion is a locking post 852, the second connector 93 further includes a guiding groove 931 extending along the axial direction thereof, one end of the locking tongue 933 is connected to the second connector 93, the other end is a free end, and the locking tongue 933 has a locking hole 9331. The support or link of the joint has a guide post 851 thereon. The guide posts 851 guide the lock posts 852 into the lock holes 9331 by sliding within the guide slots 931 to complete the locking of the sheath to the joint and linkage. The locking hole 9331 will prevent the locking post 452 from being withdrawn from the locking hole 5331 so that the sheath will not fall off the surgical instrument when the distal end of the surgical instrument is inserted into the body. In other embodiments, the guide slot and the guide post may be omitted, that is, only the locking tongue is provided on the second connecting member, and only the locking post is provided on the support member or the connecting rod, and the locking hole on the locking tongue is matched with the locking post.
In one embodiment, as shown in fig. 28, in order to make it easier for the locking posts 452, 852 to pass through the inner sides of the locking tongues 533, 933 to reach the locking holes 5331, 9331, the locking posts 452, 852 include posts 4521 and smooth spherical tops 4522 at the top ends of the posts 4521, the posts 4521 include perpendicular outer sides 4523 and arcuate inner sides 4524, and the arcuate inner sides 4523 refer to the side of the locking posts 452, 852 that first contacts the locking tongues 533 during entry into the locking holes 5331, 9331.
Specifically, when the locking posts 452, 852 enter the inner side surfaces of the locking tongues 533, 933, the arcuate inner sides 4523 of the locking posts 452, 852 can guide the locking posts 452, 852 into the inner side surfaces of the locking tongues 533, 933, so that a small force can cause the locking posts 452 to enter the inner side surfaces of the locking tongues 533, 933, and the spherical top portions of the locking posts 452, 852 can reduce sliding friction between the two when in contact with the inner side surfaces of the locking tongues 533, 933. When the locking posts 452, 852 are received in the locking holes 5331, 9331 after passing the inner side surfaces of the locking tongues 533, 933, the vertical outer sides 4523 of the locking posts 452, 852 prevent the locking posts 452, 852 from being withdrawn from the locking holes 5331, 9331.
Fig. 29-31 illustrate another end instrument of a surgical instrument that includes a joint 70, a sheath 60, and an end effector 710, the joint 70 including a plurality of joint assemblies 73, a support 74 connected at one end to the joint 70 and at the other end to the link 4, and the end effector 710 rotatably connected to the joint 70 by a clevis 731. The end effector 710 is an electrically conductive electrocautery scissors, in this embodiment, the end effector 710 and the entire joint 70 are electrically conductive, but only the tip portion of the end effector 710 performs the electrocautery operation, so the joint 70 and the portion of the end effector 710 that does not perform the electrocautery operation need to be insulated and isolated so as to avoid damaging human tissues.
The sheath 60 comprises a flexible stretchable and insulating sheath body 62, a first connecting piece 61 is fixed at the far end of the sheath body 62, a second connecting piece 63 is fixed at the near end of the sheath body 62, an insulating nozzle 64 is fixedly connected at the far end of the sheath 60, the insulating nozzle 64 is used for insulating the end effector 710, and the insulating nozzle 64 is made of an insulating material which can be silica gel, plastic and the like. The distal end of the first connector 61 is fixedly connected to the insulating nozzle 61, the proximal end thereof is fixedly connected to the sheath body 62, and the sheath 60 is fixedly connected to the surgical instrument in the same manner as described above, which is not repeated herein.
As shown in fig. 20, in order to better insulate the surgical instrument, the joint 70 includes a plurality of joint assemblies 73 and supports 74, one end of each support 74 is connected to the joint assembly 73, and the other end of each support 74 is connected to the link 4, and since the supports 74 are made of conductive material, in order to avoid the leakage of electricity at the connection between the supports 74 and the link 4, the proximal end of the sheath body 12 completely covers the second connecting member 63 and has a certain residual portion during the formation of the sheath 60, so that after the sheath 60 is mounted on the surgical instrument, the residual portion can completely cover the connection between the supports 74 and the link 4, thereby preventing the leakage of electricity at the connection between the supports 74 and the link 4.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A surgical device, comprising:
a surgical instrument comprising an end effector, a joint, and a link, the end effector being connected to the link through the joint;
the sheath is detachably connected with the surgical instrument and provided with a flexible and stretchable sheath body, one end of the sheath is provided with a first connecting piece used for being connected with the far end of the joint or the end effector, the other end of the sheath is provided with a second connecting piece connected with the near end of the joint or the connecting rod, and the first connecting piece and the second connecting piece are respectively and fixedly connected with two ends of the sheath body;
the second connector has a hardness greater than the sheath body, the second connector has a first locking portion thereon, and the proximal end of the joint or the link has a second locking portion for cooperating with the first locking portion to secure the sheath to the surgical instrument.
2. The surgical device of claim 1, wherein the first connector has a hardness greater than a hardness of the sheath body.
3. The surgical device of claim 1, further comprising a blocking mechanism for blocking withdrawal of the second locking portion from the first locking portion after engagement with the first locking portion.
4. The surgical device of claim 3, wherein the first locking portion has a first groove and a second groove thereon, the first groove communicating with the second groove, the first groove having the first groove opening at one end for guiding the second locking portion in and at the other end connecting to the second groove, the second groove for receiving the second locking portion when the sheath is secured to the surgical instrument.
5. The surgical device of claim 4, wherein the first slot extends in an axial direction of the second connector, the second slot communicating with the first slot and extending in a circumferential direction of the second connector.
6. The surgical device of claim 5, wherein the first locking portion further comprises a third slot in communication with the second slot and extending in an axial direction of the second connector toward a proximal end of the second connector, the third slot for receiving the second locking portion when securing the sheath to the surgical instrument.
7. The surgical device of claim 5, wherein the blocking mechanism is in communication with the second slot and extends in an axial direction of the second connector toward a distal end of the second connector.
8. The surgical device of claim 4, wherein the blocking mechanism includes a locking tongue and a locking post, one end of the locking tongue being connected to the second connector, the other end of the locking tongue being a free end; the locking post is located on the proximal end of the joint or on the link, the locking tongue has a locking hole therein that receives the locking post, the locking post being received in the locking hole to prevent the second locking portion from being withdrawn from the first locking portion.
9. The surgical apparatus as claimed in claim 6, wherein the second connector further comprises a stopper and a body, the stopper is located at one side of the second groove, one end of the stopper is fixedly connected with the body, the other end of the stopper is a free end, and a protrusion is provided at one side of the stopper close to the second groove and used for being abutted by the second locking part to be elastically expanded outwards when the second locking part moves from the first groove to the second groove and elastically restoring to block the second locking part from moving from the second groove to the first groove after the second locking part moves into the second groove.
10. A surgical robot, comprising:
a main operating platform and a slave operating device,
the main operating table is used for sending control commands to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment,
the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation,
the slave operation device comprises the surgical apparatus of any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010083306.3A CN111150493B (en) | 2020-02-09 | 2020-02-09 | Surgical device and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010083306.3A CN111150493B (en) | 2020-02-09 | 2020-02-09 | Surgical device and surgical robot |
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| CN111150493A true CN111150493A (en) | 2020-05-15 |
| CN111150493B CN111150493B (en) | 2024-05-14 |
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| CN202010083306.3A Active CN111150493B (en) | 2020-02-09 | 2020-02-09 | Surgical device and surgical robot |
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Address after: 518000 2b1901, phase II, smart home, 76 Baohe Avenue, Baolong community, Baolong street, Longgang District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Jingfeng Medical Technology Co.,Ltd. Address before: 518000 301, building 39, Dayun software Town, 8288 Longgang Avenue, heao community, Yuanshan street, Longgang District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN JINGFENG MEDICAL TECHNOLOGY Co.,Ltd. |
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